CN107571272B - Grabbing device state detection method, device and system - Google Patents
Grabbing device state detection method, device and system Download PDFInfo
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- CN107571272B CN107571272B CN201710922896.2A CN201710922896A CN107571272B CN 107571272 B CN107571272 B CN 107571272B CN 201710922896 A CN201710922896 A CN 201710922896A CN 107571272 B CN107571272 B CN 107571272B
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Abstract
The invention discloses a method, a device and a system for detecting the state of a gripping device. Therefore, the probability of the state misjudgment of the grabbing device caused by other external interference factors such as mechanical vibration, accidental jump of current and voltage and the like can be greatly reduced by acquiring the second sensing signal value for additional preset times.
Description
Technical Field
The invention relates to the technical field of chemical engineering experiments, in particular to a method, a device and a system for detecting the state of a gripping device.
Background
When some chemical experiments are carried out, the reaction cups are required to be loaded or unloaded, generally, the reaction cups are grabbed or put down through a mechanical arm or a similar grabbing device, in the process, the conventional mode of confirming whether the reaction cups are grabbed or put down correctly is manual confirmation, namely, experiment participants are required to observe the states of the grabbing device and the reaction cups in real time, and a large amount of labor is consumed.
Disclosure of Invention
In view of the above, the present invention provides a method for detecting a state of a gripper, which can effectively solve the problem of erroneous judgment of the state of the gripper, and also provides a device and a system for detecting the state of the gripper.
The invention provides the following technical scheme:
a grasping device state detection method comprises the following steps:
A. acquiring a first sensing signal value, wherein the first sensing signal value is used for indicating the state of the grabbing device;
B. comparing whether the first sensing signal value is equal to a preset expected signal value or not, if so, confirming that the state of the grabbing device is normal, otherwise, executing the step C;
C. repeating the preset times to obtain the state of the grabbing device, and obtaining the second sensing signal values of the preset number;
D. comparing whether the first sensing signal values are equal to a preset number of second sensing signal values, and if so, executing a step E; otherwise, returning to the step A;
E. and comparing whether the first sensing signal value or any one of the preset number of second sensing signal values is equal to the expected signal value, if so, confirming that the state of the grabbing device is normal, otherwise, confirming that the state of the grabbing device is abnormal.
Preferably, in the above detection method, when it is confirmed that the grasping apparatus is abnormal in state, the method further includes: an alarm signal is generated.
Preferably, in the above detection method, the first sensing signal value is any one or a combination of any more of a photoelectric signal, a microswitch signal and a pressure signal.
A grasping apparatus state detecting apparatus comprising:
an acquisition unit for acquiring a state of the grasping apparatus;
the first comparison unit is used for comparing whether the first sensing signal value obtained by the acquisition unit is equal to a preset expected signal value or not;
the first control unit is used for acquiring a comparison result, and if the comparison result shows that the comparison result is equal, the state of the grabbing device is determined to be normal; otherwise, generating a first control signal for controlling the acquisition unit to acquire a preset number of second sensing signal values;
the second comparison unit is used for comparing whether the first sensing signal values are equal to a preset number of second sensing signal values;
the second control unit is used for acquiring the comparison result of the second comparison unit, and generating a second control signal if the comparison results are equal; otherwise, controlling the acquisition unit to acquire the first sensing signal value again;
a third comparing unit, configured to compare, in response to the second control signal, whether the first sensing signal value or any one of the preset number of second sensing signal values is equal to the expected signal value;
the third control unit is used for acquiring the comparison result of the third comparison unit, and if the comparison results are equal, the state of the grabbing device is confirmed to be normal; otherwise, confirming that the state of the grabbing device is abnormal.
Preferably, the detection device further comprises an alarm unit for generating an alarm signal when the third control unit confirms that the state of the grasping device is abnormal.
Preferably, in the above detection device, the first sensing signal value is any one or a combination of any more of a photoelectric signal, a microswitch signal and a pressure signal.
A grasping device state detection system comprising:
the grabbing device is used for grabbing objects or putting down the objects;
a sensor that generates a sensing signal value for indicating a state of the grasping apparatus;
the controller is used for acquiring a sensing signal value of the sensor as a first sensing signal value; comparing whether the first sensing signal value is equal to a preset expected signal value or not, if so, confirming that the state of the gripping device is normal, otherwise, repeating preset times to obtain the sensing signal values of the sensors, and obtaining a preset number of second sensing signal values; and when the first sensing signal values and the preset number of second sensing signal values are equal, comparing whether the first sensing signal values or any preset number of second sensing signal values are equal to the expected signal values, if so, confirming that the state of the grabbing device is normal, otherwise, confirming that the state of the grabbing device is abnormal.
Preferably, the detection system further comprises an alarm device for giving an alarm in response to an alarm signal generated by the controller when the controller confirms that the state of the gripping device is abnormal.
Preferably, the detection system further comprises a display device for displaying the state of the grasping device when the controller confirms the state of the grasping device.
Preferably, in the above detection system, the sensor is any one or a combination of any more of a photoelectric sensor, a microswitch and a pressure sensor.
According to the method and the device for detecting the state of the grabbing device, provided by the invention, under the condition that the acquired first sensing signal value is not equal to the expected signal value, the sensing signal values are repeatedly acquired, the second sensing signal values in the preset number are finally obtained, and the state of the grabbing device is determined to be normal or abnormal through comparison and judgment of the first sensing signal value and the second sensing signal values in the preset number. Therefore, the probability of the state misjudgment of the grabbing device caused by other external interference factors such as mechanical vibration, accidental jump of current and voltage and the like can be greatly reduced by acquiring the second sensing signal value for additional preset times.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a system for detecting a state of a gripping device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a state detection system of a gripping device according to another aspect of the present invention;
fig. 3 is a schematic structural diagram of a state detection system of a gripping device according to another aspect of the present invention;
fig. 4 is a flowchart of a method for detecting a state of a gripping device according to a second embodiment of the present invention;
fig. 5 is a flowchart of a method for detecting a state of a gripping device according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a state detection device of a gripping device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a state detection device of a grabbing device according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of a state detection system of a gripping device according to a sixth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a state detection system of a gripping device according to a seventh embodiment of the present invention.
Detailed Description
As described in the background art, the prior art requires excessive human involvement, and in view of this problem, the inventors studied and explored to consider that the existing manual detection is replaced by a detection (i.e. automatic detection) method controlled by a program, for example, by arranging a sensor on the gripping device or the reaction cup, and confirming whether the working state of the gripping device is normal or not through a sensing signal provided by the sensor. As shown in fig. 1 to 3, in the system for detecting a state of a grasping apparatus according to an embodiment of the present invention, after the grasping apparatus grasps or puts down a cuvette, the grasping apparatus triggers a sensor to generate a corresponding sensing signal value, and after the controller obtains the sensing signal value, the controller compares the obtained sensing signal value with a preset expected signal value, and determines a state of the grasping apparatus according to a comparison result.
The system can automatically detect the working state of the gripping device, and saves a large amount of manual participation. However, the inventor finds that the state of the grasping apparatus is erroneously judged in the process of performing the experiment, and although the probability of the erroneous judgment is low, the erroneous judgment of the state of the grasping apparatus affects a series of subsequent experimental steps, thereby causing the failure of the experiment. There are many reasons for misjudging the state of the grasping apparatus, for example, external interference factors such as mechanical vibration and accidental jump of current and voltage may cause misjudging the state of the grasping apparatus, for example, mechanical vibration causes fluctuation of a sensing signal value acquired by a sensor, or accidental jump of voltage and current causes deviation in a comparison process. The inventor has tried to reduce the mechanical shock generated during the operation of the gripper by changing the mechanical structure of the gripper, and has also tried to stabilize the current and voltage and reduce the probability of accidental jump of the current and voltage by changing the circuit structure. However, in both of the above methods, some parts are required to be added and the hardware structure is changed, which not only makes the structure of the gripping device more complicated and tedious, but also increases the cost. Importantly, the two methods cannot avoid the condition that the state of the grabbing device is misjudged due to other external interference factors except mechanical vibration and accidental jump of current and voltage.
Analysis shows that the influence of external interference factors on the state detection of the gripping device is always excessive, namely the probability of continuous occurrence of misjudgment is extremely low, and therefore, the introduction of a confirmation mechanism can greatly reduce the misjudgment probability. The invention provides a state detection method of a grabbing device, which introduces a confirmation mechanism into a control logic, namely, when detection is carried out at a certain time, if an acquired sensing signal value is not equal to a preset expected signal value, the confirmation mechanism is started. The method, the device and the system for detecting the state of the gripping device do not increase parts or cost, and can avoid the condition that all external interference factors cause the state of the gripping device to be misjudged.
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 4, fig. 4 is a flowchart of a method for detecting a state of a grabbing device according to a second embodiment of the present invention, including the following steps:
step S41, a first sensing signal value Rx is obtained.
The first sensor signal value Rx is used to indicate the status of the gripping device, for example, Rx of 0 indicates that the gripping device is in a state of putting down the cuvette, and Rx of 1 indicates that the gripping device is in a state of gripping the cuvette.
Step S42, comparing whether the first sensing signal value Rx is equal to the preset expected signal value Re, if so, entering step S43; otherwise, the process proceeds to step S44.
The first sensing signal value Rx acquired in step S41 is compared with a preset desired signal value Re, and if Rx is equal to Re, the state of the grasping apparatus can be considered to be consistent with the desired state, and the process proceeds to step S43.
And step S43, confirming that the gripping device is normal in state.
The normal state of the gripping device is that the gripping device is executed according to the indicated operation, for example, the gripping device is indicated to grip the reaction cup at a certain experimental stage, and the gripping device correctly grips the reaction cup; alternatively, the gripping device is instructed to lower the cuvette at a certain experimental stage, but the gripping device has correctly lowered the cuvette.
Step S44, obtaining a preset number of second sensing signal values Rx1, Rx2 … … Rxn.
Specifically, a preset number of second sensing signal values Rx1, Rx2 … … Rxn are obtained by repeating the performing step S41 a preset number of times, and one second sensing signal value is obtained every time the step S41 is repeated.
In step S42, if Rx ≠ Re, it is necessary to determine whether it is a false determination due to other external disturbance factors such as mechanical shock and accidental jump of current and voltage. Therefore, the step S41 needs to be repeated for a preset number of times, and a preset number of second sensing signal values Rx1, Rx2 … … Rxn are finally obtained.
Wherein the second sensor signal value is likewise used to indicate the state of the gripping device. It should be noted that the state sensor signal value indicating the grasping apparatus acquired in step S41 is defined as a first sensor signal value, and the state sensor signal value indicating the grasping apparatus acquired in step S44 is defined as a second sensor signal value.
Step S45, comparing whether the first sensing signal value Rx is equal to a preset number of second sensing signal values Rx1 and Rx2 … … Rxn, if yes, entering step S46, otherwise, returning to step S41.
The first sensing signal value Rx obtained in step S41 is compared with the preset number of second sensing signal values Rx1 and Rx2 … … Rxn obtained in step S44, that is, whether Rx, Rx1 and Rx2 … … Rxn are all equal to each other is compared, and if so, it indicates that the states of the grasping apparatuses detected multiple times in steps S41 and S44 are identical. If the unevenness is equal, it indicates that the status of the grasping apparatuses detected a plurality of times in steps S41 and S44 is not uniform, and at this time, the process returns to step S41 to perform retesting.
Step S46, comparing whether the first sensing signal value Rx or any of the predetermined number of second sensing signal values is equal to the expected signal value Re, if so, going to step S43, otherwise, going to step S47.
If any of Rx, Rx1, and Rx2 … … Rxn is equal to Re, the process proceeds to step S43, where it indicates that the comparison result between Rx and Re obtained in step S42 is a false determination; if any of Rx, Rx1, and Rx2 … … Rxn is not equal to the desired signal value Re, it means that the comparison result between Rx and Re obtained in step S42 is not a false determination, and the process proceeds to step S47.
And step S47, confirming that the state of the grabbing device is abnormal.
The abnormal state of the gripping device means that the gripping device is not executed according to the indicated operation, for example, the gripping device is indicated to grip the reaction cup at a certain experimental stage, and the gripping device does not grip the reaction cup; alternatively, the gripping device is instructed to lower the cuvette at a certain experimental stage, but the gripping device is still gripping the cuvette.
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for detecting a status of a gripping device according to a third embodiment of the present invention, wherein steps S51-S57 of the third embodiment are the same as steps S41-S47 of the second embodiment, please refer to the contents of the second embodiment. The difference between the third embodiment and the second embodiment is that after the step S57, the method further includes a step S58: an alarm signal is generated. After confirming that the state of the gripping device is abnormal, in order to inform experimenters in time, an alarm signal needs to be generated, and the alarm signal is used for indicating the alarm device to give an alarm.
Specifically, in the second and third embodiments, the first sensing signal value Rx may be any one or any combination of multiple of an optical electrical signal, a microswitch signal and a pressure signal. Optionally, when the photoelectric switch is used, the reaction cup can generate a photoelectric signal after shielding the light path; when the microswitch is used, a microswitch signal can be generated; when the pressure sensor is used, a pressure signal is generated when the gripping device grips the reaction cup.
In the second or third embodiment, in the process of obtaining the preset number of the second sensing signal values in the above step S44, a preset time period is performed between any two adjacent steps S41. Due to the fact that other external interference factors such as mechanical vibration, accidental jump of current and voltage and the like are accidental and the duration is not long, the sensing signal value can be obtained again after a preset time interval, and the misjudgment probability caused by the external interference factors is greatly reduced.
Alternatively, the preset time period may be 20 ms. Of course, the preset time period may also be set according to practical experiments, and is not limited herein.
In addition, the preset time period may vary with time. For example, in the process of obtaining 3 second sensing signal values, the step S41 is repeated 3 times, a first preset time period is separated between the first repetition of the step S41 and the second repetition of the step S41, a second preset time period is separated between the second repetition of the step S41 and the third repetition of the step S41, and the first preset time periods may be unequal or equal.
In order to ensure the accuracy of the detection, in step S44, at least two second sensor signal values are obtained, i.e., at least twice S41 is repeated, and the more times step S41 is repeated, the more reliable the value indicating the state of the grasping apparatus is finally obtained.
In step S46, the first sensing signal value Rx and the expected signal value Re can be directly compared to each other, if yes, the process proceeds to step S43, otherwise, the process proceeds to step S47.
Referring to fig. 6, fig. 6 is a diagram of a state detection device for a grabbing device according to a fourth embodiment of the present invention, including an obtaining unit 101, a first comparing unit 102, a first control unit 103, a second comparing unit 104, a second control unit 105, a third comparing unit 106, and a third control unit 107.
The obtaining unit 101 is configured to obtain a first sensing signal value, where the first sensing signal value is used to indicate a state of the grasping apparatus. The first comparing unit 102 is configured to compare whether the first sensing signal value is equal to a preset expected signal value. The first control unit 103 is configured to obtain a comparison result of the first comparing unit 102, and if the comparison result shows that the comparison result is equal, determine that the state of the grabbing device is normal; otherwise, a first control signal is generated, where the first control signal is used to control the obtaining unit 101 to obtain a preset number of second sensing signal values, and the second sensing signal values are used to indicate the state of the gripping device.
The second comparing unit 104 is configured to compare whether the first sensor signal value and a preset number of second sensor signal values are equal to each other. The second control unit 105 is configured to obtain comparison results of the second comparing unit 104, and generate a second control signal if the comparison results are equal; otherwise, the control acquiring unit 101 acquires the first sensing signal value again. The third comparing unit 106 is configured to compare whether the first sensing signal value or any one of a predetermined number of second sensing signal values is equal to the expected signal value in response to the second control signal. The third control unit 107 is configured to obtain a comparison result of the third comparing unit 106, and if the comparison result shows that the comparison result is equal, determine that the state of the grasping apparatus is normal; otherwise, confirming that the state of the grabbing device is abnormal.
Referring to fig. 7, fig. 7 is another state detection device for a gripping device according to a fifth embodiment of the present invention, in which an alarm unit 108 is added to the state detection device for a gripping device according to a fourth embodiment of the present invention. The alarm unit 108 is used for generating an alarm signal when the third control unit confirms that the state of the grabbing device is abnormal.
Optionally, the first sensing signal value is any one or any combination of multiple of a photoelectric signal, a microswitch signal and a pressure signal. When the photoelectric switch is used, the reaction cup can generate a photoelectric signal after shielding the light path; when the microswitch is used, a microswitch signal can be generated; when the pressure sensor is used, a pressure signal is generated when the gripping device grips the reaction cup.
Referring to fig. 8, fig. 8 is a state detection system of a grasping apparatus according to a sixth embodiment of the present invention, which includes a grasping apparatus 300, a sensor 200, and a controller 100.
Wherein the grasping means 300 is used for grasping an object or putting down an object, and in this embodiment, the grasping means 300 is used for grasping the reaction cup 400. The sensor 200 generates a sensor signal value indicative of the status of the grasping apparatus. The controller 100 is configured to acquire a sensing signal value of the sensor 200 as a first sensing signal value; comparing whether the first sensing signal value is equal to a preset expected signal value or not, if so, confirming that the state of the grabbing device is normal, otherwise, repeating the preset times to obtain the sensing signal values of the sensors, and obtaining a preset number of second sensing signal values; and when the first sensing signal values and the preset number of second sensing signal values are equal, comparing whether the first sensing signal values or any preset number of second sensing signal values are equal to the expected signal values, if so, confirming that the state of the grabbing device is normal, otherwise, confirming that the state of the grabbing device is abnormal.
Referring to fig. 9, fig. 9 is a diagram of a state detection system for a gripping device according to a seventh embodiment of the present invention, which is different from the sixth embodiment in that the system further includes an alarm device for alarming in response to an alarm signal generated by a controller when the state of the gripping device is determined to be abnormal.
For example, the alarm device may be an LED light that flashes red when the status of the grasping device is abnormal, and that displays green when the status of the grasping device is normal. Or the alarm device can also be an audio device, and an alarm sound is given when the state of the grabbing device is abnormal.
The actual hardware configuration of the grasping apparatus state detection systems disclosed in the sixth and seventh embodiments may be the same as those in fig. 1 to 3.
In addition, the grasping apparatus state detection system may further include a display device for displaying the grasping apparatus state when the controller confirms the grasping apparatus state. Therefore, the experimenter can know the state of the gripping device in real time through the display device.
For example, when the grasping device is instructed to grasp the cuvette, if the grasping device is in a normal state, the grasping device is instructed to grasp the cuvette, and the display device displays that the grasping device has grasped the cuvette. If the state of the gripping device is abnormal, the gripping device does not grip the reaction cup, and the display device displays that the gripping device does not grip the reaction cup.
The display device may be embodied as a display screen.
The sensor 200 may be embodied as any one of a photoelectric switch, a micro switch and a force sensor, for example, the light path of the photoelectric switch is blocked after the gripping device grips the container, the micro switch is triggered or the pressure value of the force sensor is changed to detect the state of the gripping device. In addition, the sensor 200 may also be any combination of a photoelectric switch, a micro switch and a force sensor, for example, the sensor 200 is a combination of a photoelectric switch and a micro switch, the micro switch is triggered after the container is grabbed by the grabbing device, and the micro switch blocks the light path of the photoelectric switch after the action of the micro switch to detect the state of the grabbing device.
Of course, the sensor 200 may be provided on the gripping device 300 as well as on the article being gripped. According to different experimental types, the grabbed objects can be containers such as measuring cups, reaction cups 400 and the like. The grasping apparatus state detection system can also be used in a production line, the grasping apparatus 300 can be used to grasp any part, and the grasping apparatus state detection system is used to detect whether the grasping apparatus grasps the part.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for detecting the state of a gripping device is characterized by comprising the following steps:
A. acquiring a first sensing signal value, wherein the first sensing signal value is used for indicating the state of the grabbing device;
B. comparing whether the first sensing signal value is equal to a preset expected signal value or not, if so, confirming that the state of the grabbing device is normal, otherwise, executing the step C;
C. repeating the preset times to obtain the state of the grabbing device, and obtaining the second sensing signal values of the preset number;
D. comparing whether the first sensing signal values are equal to a preset number of second sensing signal values, and if so, executing a step E; otherwise, returning to the step A;
E. and comparing whether the first sensing signal value or any one of the preset number of second sensing signal values is equal to the expected signal value, if so, confirming that the state of the grabbing device is normal, otherwise, confirming that the state of the grabbing device is abnormal.
2. The detection method according to claim 1, further comprising, upon confirming that the grasping apparatus is abnormally in state: an alarm signal is generated.
3. The detection method according to claim 1, wherein the first sensing signal value is any one or a combination of any more of a photoelectric signal, a microswitch signal and a pressure signal.
4. A grasping apparatus state detecting apparatus characterized by comprising:
an acquisition unit for acquiring a state of the grasping apparatus;
the first comparison unit is used for comparing whether the first sensing signal value obtained by the acquisition unit is equal to a preset expected signal value or not;
the first control unit is used for acquiring a comparison result, and if the comparison result shows that the comparison result is equal, the state of the grabbing device is determined to be normal; otherwise, generating a first control signal for controlling the acquisition unit to acquire a preset number of second sensing signal values;
the second comparison unit is used for comparing whether the first sensing signal values are equal to a preset number of second sensing signal values;
the second control unit is used for acquiring the comparison result of the second comparison unit, and generating a second control signal if the comparison results are equal; otherwise, controlling the acquisition unit to acquire the first sensing signal value again;
a third comparing unit, configured to compare, in response to the second control signal, whether the first sensing signal value or any one of the preset number of second sensing signal values is equal to the expected signal value;
the third control unit is used for acquiring the comparison result of the third comparison unit, and if the comparison results are equal, the state of the grabbing device is confirmed to be normal; otherwise, confirming that the state of the grabbing device is abnormal.
5. The detection device according to claim 4, further comprising an alarm unit for generating an alarm signal when the third control unit confirms the abnormality of the state of the grasping device.
6. The detecting device according to claim 4, wherein the first sensing signal value is any one or any combination of more of a photoelectric signal, a microswitch signal and a pressure signal.
7. A grasping device state detection system, comprising:
the grabbing device is used for grabbing objects or putting down the objects;
a sensor that generates a sensing signal value for indicating a state of the grasping apparatus;
the controller is used for acquiring a sensing signal value of the sensor as a first sensing signal value; comparing whether the first sensing signal value is equal to a preset expected signal value or not, if so, confirming that the state of the grabbing device is normal, otherwise, repeating preset times to obtain the sensing signal values of the sensors, and obtaining a preset number of second sensing signal values; and when the first sensing signal values and the preset number of second sensing signal values are equal, comparing whether the first sensing signal values or any preset number of second sensing signal values are equal to the expected signal values, if so, confirming that the state of the grabbing device is normal, otherwise, confirming that the state of the grabbing device is abnormal.
8. The detection system according to claim 7, further comprising an alarm device for alarming in response to an alarm signal generated by the controller upon confirming an abnormality in the state of the grasping device.
9. The detection system of claim 7, further comprising a display device for displaying the grasping device status when the controller confirms the grasping device status.
10. A detection system according to claim 7, 8 or 9, wherein the sensor is any one or combination of any plurality of photoelectric sensors, micro switches or pressure sensors.
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| CN108227251A (en) * | 2018-01-18 | 2018-06-29 | 深圳市华星光电技术有限公司 | Offal timber clamp device |
| CN108919637B (en) * | 2018-06-13 | 2021-07-27 | 武汉市政工程设计研究院有限责任公司 | Automatic control method and system for grab type trash remover |
| CN108802415A (en) * | 2018-06-29 | 2018-11-13 | 迈克医疗电子有限公司 | The determination method and device of reaction cup, the control method and device of reaction cup transport |
| CN110498154A (en) * | 2019-08-23 | 2019-11-26 | 中国科学院自动化研究所 | Garbage cleaning device and rubbish clear up system |
| CN111003296A (en) * | 2019-11-29 | 2020-04-14 | 北京小米移动软件有限公司 | Packing box, clamping position detection method and clamping position detection device |
| CN110969964A (en) * | 2019-12-31 | 2020-04-07 | 深圳市时代华影科技股份有限公司 | LED screen with induction control function and control method thereof |
| CN111941454B (en) * | 2020-08-17 | 2021-10-01 | 江苏昱博自动化设备有限公司 | Clamp for power-assisted manipulator |
| CN113524184B (en) * | 2021-07-16 | 2022-08-16 | 珠海丽珠试剂股份有限公司 | Sample rack grabbing method, device and system |
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| JPS5729434A (en) * | 1980-07-31 | 1982-02-17 | Toshiba Mach Co Ltd | Method and apparatus for controlling clamping pressure |
| JPS6362690A (en) * | 1986-09-03 | 1988-03-18 | 富士通株式会社 | Method of confirming gripping of hand |
| JP5192263B2 (en) * | 2008-03-07 | 2013-05-08 | シスメックス株式会社 | Analytical apparatus and sample transport method |
| JP2011177746A (en) * | 2010-03-01 | 2011-09-15 | Kobe Steel Ltd | Clamp confirmation system, welding robot system, clamp fixture controller and clamp confirmation method |
| CN104889981B (en) * | 2015-05-26 | 2017-03-22 | 重庆德领科技有限公司 | Net grabbing robot for building wallboard forming system and control method thereof |
| CN105417360B (en) * | 2015-12-11 | 2017-08-11 | 山东丰汇设备技术有限公司 | A kind of fully-automatic intelligent grabbing device and method |
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